Not that I know of, but the man was prolific, he and Heinlein may have discussed ideas.
From the short story “Lifeline:”
“There are but two ways of forming an opinion in science. One is the scientific method, the other, the scholastic. One can judge from experiment, or one can blindly accept authority. To the scientific mind, experimental proof is all-important, and theory is merely a convenience in description, to be junked when it no longer fits. To the academic mind, authority is everything, and facts are to be junked when they do not fit theory laid down by authority”
In the “Afterward” of the short story “Inside Tourist,” Heinlein bragged that he “practically kidnapped” Isaac Asimov from Columbia University, where he was a PhD candidate, resulting in the A-bomb being finished a year sooner than it would have been. (IOW Isaac saved the free world)
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